John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

controller_manager_msgs/LoadController.h@0:04ac6be8229a, 2019-11-08 (annotated)

Committer:
Gary Servin
Date:
Fri Nov 08 14:38:09 2019 -0300
Revision:
0:04ac6be8229a
Initial commit, generated based on a clean melodic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_SERVICE_LoadController_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_LoadController_h
Gary Servin 0:04ac6be8229a 3 #include <stdint.h>
Gary Servin 0:04ac6be8229a 4 #include <string.h>
Gary Servin 0:04ac6be8229a 5 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 6 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 7
Gary Servin 0:04ac6be8229a 8 namespace controller_manager_msgs
Gary Servin 0:04ac6be8229a 9 {
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 static const char LOADCONTROLLER[] = "controller_manager_msgs/LoadController";
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class LoadControllerRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef const char* _name_type;
Gary Servin 0:04ac6be8229a 17 _name_type name;
Gary Servin 0:04ac6be8229a 18
Gary Servin 0:04ac6be8229a 19 LoadControllerRequest():
Gary Servin 0:04ac6be8229a 20 name("")
Gary Servin 0:04ac6be8229a 21 {
Gary Servin 0:04ac6be8229a 22 }
Gary Servin 0:04ac6be8229a 23
Gary Servin 0:04ac6be8229a 24 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 25 {
Gary Servin 0:04ac6be8229a 26 int offset = 0;
Gary Servin 0:04ac6be8229a 27 uint32_t length_name = strlen(this->name);
Gary Servin 0:04ac6be8229a 28 varToArr(outbuffer + offset, length_name);
Gary Servin 0:04ac6be8229a 29 offset += 4;
Gary Servin 0:04ac6be8229a 30 memcpy(outbuffer + offset, this->name, length_name);
Gary Servin 0:04ac6be8229a 31 offset += length_name;
Gary Servin 0:04ac6be8229a 32 return offset;
Gary Servin 0:04ac6be8229a 33 }
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 36 {
Gary Servin 0:04ac6be8229a 37 int offset = 0;
Gary Servin 0:04ac6be8229a 38 uint32_t length_name;
Gary Servin 0:04ac6be8229a 39 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 40 offset += 4;
Gary Servin 0:04ac6be8229a 41 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 42 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 43 }
Gary Servin 0:04ac6be8229a 44 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 45 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 46 offset += length_name;
Gary Servin 0:04ac6be8229a 47 return offset;
Gary Servin 0:04ac6be8229a 48 }
Gary Servin 0:04ac6be8229a 49
Gary Servin 0:04ac6be8229a 50 const char * getType(){ return LOADCONTROLLER; };
Gary Servin 0:04ac6be8229a 51 const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
Gary Servin 0:04ac6be8229a 52
Gary Servin 0:04ac6be8229a 53 };
Gary Servin 0:04ac6be8229a 54
Gary Servin 0:04ac6be8229a 55 class LoadControllerResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 56 {
Gary Servin 0:04ac6be8229a 57 public:
Gary Servin 0:04ac6be8229a 58 typedef bool _ok_type;
Gary Servin 0:04ac6be8229a 59 _ok_type ok;
Gary Servin 0:04ac6be8229a 60
Gary Servin 0:04ac6be8229a 61 LoadControllerResponse():
Gary Servin 0:04ac6be8229a 62 ok(0)
Gary Servin 0:04ac6be8229a 63 {
Gary Servin 0:04ac6be8229a 64 }
Gary Servin 0:04ac6be8229a 65
Gary Servin 0:04ac6be8229a 66 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 67 {
Gary Servin 0:04ac6be8229a 68 int offset = 0;
Gary Servin 0:04ac6be8229a 69 union {
Gary Servin 0:04ac6be8229a 70 bool real;
Gary Servin 0:04ac6be8229a 71 uint8_t base;
Gary Servin 0:04ac6be8229a 72 } u_ok;
Gary Servin 0:04ac6be8229a 73 u_ok.real = this->ok;
Gary Servin 0:04ac6be8229a 74 *(outbuffer + offset + 0) = (u_ok.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 75 offset += sizeof(this->ok);
Gary Servin 0:04ac6be8229a 76 return offset;
Gary Servin 0:04ac6be8229a 77 }
Gary Servin 0:04ac6be8229a 78
Gary Servin 0:04ac6be8229a 79 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 80 {
Gary Servin 0:04ac6be8229a 81 int offset = 0;
Gary Servin 0:04ac6be8229a 82 union {
Gary Servin 0:04ac6be8229a 83 bool real;
Gary Servin 0:04ac6be8229a 84 uint8_t base;
Gary Servin 0:04ac6be8229a 85 } u_ok;
Gary Servin 0:04ac6be8229a 86 u_ok.base = 0;
Gary Servin 0:04ac6be8229a 87 u_ok.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 88 this->ok = u_ok.real;
Gary Servin 0:04ac6be8229a 89 offset += sizeof(this->ok);
Gary Servin 0:04ac6be8229a 90 return offset;
Gary Servin 0:04ac6be8229a 91 }
Gary Servin 0:04ac6be8229a 92
Gary Servin 0:04ac6be8229a 93 const char * getType(){ return LOADCONTROLLER; };
Gary Servin 0:04ac6be8229a 94 const char * getMD5(){ return "6f6da3883749771fac40d6deb24a8c02"; };
Gary Servin 0:04ac6be8229a 95
Gary Servin 0:04ac6be8229a 96 };
Gary Servin 0:04ac6be8229a 97
Gary Servin 0:04ac6be8229a 98 class LoadController {
Gary Servin 0:04ac6be8229a 99 public:
Gary Servin 0:04ac6be8229a 100 typedef LoadControllerRequest Request;
Gary Servin 0:04ac6be8229a 101 typedef LoadControllerResponse Response;
Gary Servin 0:04ac6be8229a 102 };
Gary Servin 0:04ac6be8229a 103
Gary Servin 0:04ac6be8229a 104 }
Gary Servin 0:04ac6be8229a 105 #endif